Automatic transplanting robot for forestry seedlings

Abstract

The utility model provides an automatic transplanting robot for forestry seedlings, and relates to the technical field of transplanting robots, the automatic transplanting robot comprises a base, a mounting column and a clamping structure, the upper end face of the base is provided with a first Y-axis linear guide rail, the first Y-axis linear guide rail is slidably connected with a first sliding block, the upper part of the first sliding block is provided with a first X-axis linear guide rail, and the upper part of the first X-axis linear guide rail is provided with a second X-axis linear guide rail; a lower mounting plate is movably arranged on the first X-axis linear guide rail, a first motor is mounted on the lower mounting plate, a first rotating shaft is mounted at the upper end of the first motor, the upper part of the first rotating shaft is fixed in the lower part of a mounting column, a vertical plate is arranged on the left side of the upper part of the mounting column, and a clamping structure is movably arranged on the vertical plate. The multi-directional seedling clamping device can easily move in a planting field, is convenient to move in multiple directions, can help clamped seedlings to rotate and reverse, is suitable for planting the seedlings at different heights, is stable in clamping and mounting, is favorable for guaranteeing the stability of seedling planting, and is more flexible, stable and practical.

Description

Technical Field

[0001] The utility model relates to the technical field of transplanting robots, in particular to an automatic forestry seedling transplanting robot. Background Art

[0002] Transplanting, also known as transplanting, refers to the operation of transplanting seedlings in the seedbed to the field. The seedlings can be transplanted with or without soil. Transplanting with soil will cause less root damage, shorten the seedling acclimatization period, and accelerate drought-resistant growth.

[0003] The specification of a plant seedling transplanting robot in the prior art (Announcement No. CN111587645A) states that it "includes a transplanting device, a robotic arm, a carriage, a trolley, and a three-dimensional seedling storage rack. The carriage is fixed to the rear of the trolley; the robotic arm is fixed to the right front of the trolley; the transplanting device is placed on the upper end surface of the carriage; and the three-dimensional seedling storage rack is fixed inside the carriage. The transplanting device includes a first guide rail, a second guide rail, a gripping device, and telescopic legs. The second guide rail is placed on the track of the first guide rail; the gripping device is placed on the track of the second guide rail; and the telescopic legs are fixed to the inner corners of the track of the first guide rail. The robotic arm includes an electromagnet and a six-degree-of-freedom robotic arm, and the electromagnet is fixed to the end surface of the six-degree-of-freedom robotic arm." However, the transplanting robot in the prior art cannot flexibly change direction, which affects its planting direction change. In addition, the seedling clamping is not safe and stable, and may slip, affecting the stability and efficiency of seedling planting. Utility Model Content

[0004] In order to overcome the defects of the existing technology, an automatic forestry seedling transplanting robot is now provided to solve the problems that the transplanting robots in the existing technology cannot flexibly change direction, affecting their planting direction, and the clamping of seedlings is not safe and stable, and may slip, affecting the stability and efficiency of seedling planting.

[0005] To achieve the above-mentioned purpose, a forestry seedling automatic transplanting robot is provided, including a base, a mounting column and a clamping structure, the upper end surface of the base is provided with a first Y-axis linear guide, and the first Y-axis linear guide is slidably connected to a first slider, the upper part of the first slider is provided with a first X-axis linear guide, and a lower mounting plate is movably provided on the first X-axis linear guide, a first motor is installed on the lower mounting plate, and a first rotating shaft is installed on the upper end of the first motor, the upper part of the first rotating shaft is fixed in the lower part of the mounting column, and a vertical plate is provided on the upper left side of the mounting column, and a clamping structure is movably provided on the vertical plate.

[0006] Furthermore, side fixing plates are provided at the front and rear parts of the base, rollers are installed under the side fixing plates, and the rollers adopt a solid rubber roller structure.

[0007] Furthermore, a second slider is provided at the lower portion of the lower mounting plate, the second slider is slidably connected to the first X-axis linear guide rail, and the lower mounting plate moves left and right in the horizontal direction.

[0008] Furthermore, the first rotating shaft and the mounting column are both rotatable structures, and a front connecting plate is fixed to the left part of the mounting column, and a side panel is fixed to the left side of the front connecting plate, and the right end of the vertical plate is fixed to the side panel, and the first Z-axis linear guide rail is provided on the front and rear sides of the vertical plate.

[0009] Furthermore, a third slider is provided at the rear of the clamping structure, which is slidably connected to the first Z-axis linear guide rail, and multiple groups of telescopic cylinders are provided on the left and right sides of the front of the clamping structure, and the front end of the telescopic cylinder is fixed on the arc-shaped clamping plate.

[0010] Furthermore, the clamping surface of the arc-shaped clamping plate is provided with a rubber lining, and the front side surface of the rubber lining is provided with an anti-slip protrusion.

[0011] The beneficial effects of the present invention are:

[0012] 1. The base of the utility model can be rolled and moved to change the planting site by rollers, which is easier and more convenient. In addition, the sliding connection between the first slider and the first Y-axis linear guide and the second slider and the first X-axis linear guide facilitates horizontal movement forward and backward and left and right, making flat-range planting more flexible and fast.

[0013] 2. The utility model can rotate the first shaft by the first motor to reverse the direction of the first shaft, and each rotation can rotate the first shaft by the first motor, which is convenient for driving the mounting column and the clamping structure to rotate and reverse synchronously, and is more flexible and practical.

[0014] 3. The utility model is connected to the first Z-axis linear guide rail through a third slider, which facilitates the lifting and lowering of the clamping structure in the vertical direction. It is suitable for planting seedlings at different heights. Moreover, the telescopic cylinder is telescopically movable to push the arc-shaped clamping plate and the rubber lining to clamp the lower part of the seedling trunk. The clamping is safe, stable and non-slip, which helps to ensure the stability of forestry seedling planting. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic top view of an embodiment of the present utility model;

[0016] Figure 2 This is a schematic diagram of the structure arrangement on the base of an embodiment of the utility model;

[0017] Figure 3 This is a schematic diagram of a mounting post according to an embodiment of the present utility model;

[0018] Figure 4 Schematic diagram of the clamping structure of an embodiment of the present utility model.

[0019] In the figure: 1. Base; 10. First Y-axis linear guide; 11. Side fixing plate; 12. Roller; 13. First slider; 14. First X-axis linear guide; 15. Second slider; 16. Lower mounting plate; 17. First motor; 18. First rotating shaft; 2. Mounting column; 20. Front connecting plate; 21. Side panel; 22. Vertical plate; 23. First Z-axis linear guide; 3. Clamping structure; 30. Third slider; 31. Telescopic cylinder; 32. Arc clamping plate; 33. Rubber lining. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. The specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. Specific details such as specific system structures and technologies are proposed in order to more thoroughly understand the embodiments of the present invention. The described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. However, it should be clear to those skilled in the art that the present invention can also be implemented in other embodiments without these specific details. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present disclosure.

[0021] The specific implementation of the present utility model will be described in detail below with reference to the accompanying drawings.

[0022] Figure 1 A schematic top view of an embodiment of the present invention is shown in FIG. Figure 2 This is a schematic diagram of the structure arrangement on the base of the embodiment of the utility model. Figure 3 Schematic diagram of the installation column of the embodiment of the utility model and Figure 4 Schematic diagram of the clamping structure of an embodiment of the present utility model.

[0023] Reference Figures 1 to 4 As shown, the utility model provides a forestry seedling automatic transplanting robot, including a base 1, a mounting column 2 and a clamping structure 3, the upper end surface of the base 1 is provided with a first Y-axis linear guide 10, and the first Y-axis linear guide 10 is slidably connected to the first slider 13, the upper part of the first slider 13 is provided with a first X-axis linear guide 14, and the first X-axis linear guide 14 is movably provided with a lower mounting plate 16, the lower mounting plate 16 is installed with a first motor 17, and the upper end of the first motor 17 is installed with a first rotating shaft 18, the upper part of the first rotating shaft 18 is fixed in the lower part of the mounting column 2, and a vertical plate 22 is provided on the upper left side of the mounting column 2, and the clamping structure 3 is movably provided on the vertical plate 22.

[0024] In this embodiment, side fixing plates 11 are provided at the front and rear parts of the base 1, and rollers 12 are installed under the side fixing plates 11, and the rollers 12 adopt a solid rubber roller structure; a second slider 15 is provided at the lower part of the lower mounting plate 16, and the second slider 15 is slidably connected to the first X-axis linear guide 14, and the lower mounting plate 16 moves left and right in the horizontal direction.

[0025] As a preferred embodiment, the base 1 in the utility model can be rolled and moved to change the planting site through the roller 12, which is easier and more convenient. In addition, the sliding connection between the first slider 13 and the first Y-axis linear guide 10, and the second slider 15 and the first X-axis linear guide 14 is used to facilitate horizontal movement back and forth and left and right, making planting in a flat area more flexible and fast.

[0026] In this embodiment, the first rotating shaft 18 and the mounting column 2 are both rotatable structures, and a front connecting plate 20 is fixed to the left part of the mounting column 2, and a side panel 21 is fixed to the left side of the front connecting plate 20, and the right end of the vertical plate 22 is fixed on the side panel 21, and a first Z-axis linear guide rail 23 is provided on the front and rear sides of the vertical plate 22.

[0027] As a preferred embodiment, the utility model can rotate and reverse 180 degrees by rotating the first rotating shaft 18 through the first motor 17. Each rotation can rotate 180 degrees, which is convenient for driving the installation column 2 and the clamping structure 3 to rotate and reverse synchronously, and is more flexible and practical.

[0028] In this embodiment, a third slider 30 is provided at the rear of the clamping structure 3, and the third slider 30 is slidably connected to the first Z-axis linear guide 23, and multiple groups of telescopic cylinders 31 are provided on the left and right sides of the front of the clamping structure 3, and the front end of the telescopic cylinder 31 is fixed on the arc-shaped clamping plate 32; the clamping surface of the arc-shaped clamping plate 32 is provided with a rubber lining 33, and the front side of the rubber lining 33 is provided with an anti-slip protrusion.

[0029] As a preferred embodiment, the utility model is slidably connected to the first Z-axis linear guide rail 23 through the third slider 30, which facilitates the lifting and lowering movement of the clamping structure 3 in the vertical direction, and is suitable for planting seedlings of different heights. Moreover, through the telescopic movement of the telescopic cylinder 31, the arc-shaped clamping plate 32 and the rubber lining 33 are pushed to clamp the lower part of the seedling trunk. The clamping is safe, stable and non-slip, which helps to ensure the stability of forestry seedling planting.

[0030] The utility model can effectively solve the problems in the prior art that the transplanting robot cannot flexibly change direction, which affects its planting direction change, and the clamping of seedlings is not safe and stable, and may slip, affecting the stability and efficiency of seedling planting. The utility model can be easily moved in the planting site, convenient for multi-directional movement, and can help clamp the seedlings for rotation and change direction. It is suitable for planting seedlings at different heights. At the same time, the clamping installation is firm, which helps to ensure the stability of seedling planting, and is more flexible, stable and practical.

[0031] The above embodiments are used to illustrate the present invention rather than to limit the present invention. Any modifications and changes made to the present invention within the spirit of the present invention and the scope of the claims for protection shall be included in the scope of protection of the present invention.

Claims

1. A forestry seedling automatic transplanting robot, characterized by: The invention comprises a base (1), a mounting column (2) and a clamping structure (3), wherein the upper end surface of the base (1) is provided with a first Y-axis linear guide rail (10), and a first slider (13) is slidably connected to the first Y-axis linear guide rail (10), a first X-axis linear guide rail (14) is provided on the upper part of the first slider (13), and a lower mounting plate (16) is movably provided on the first X-axis linear guide rail (14), a first motor (17) is installed on the lower mounting plate (16), and a first rotating shaft (18) is installed on the upper end of the first motor (17), the upper part of the first rotating shaft (18) is fixed in the lower part of the mounting column (2), and a vertical plate (22) is provided on the left side of the upper part of the mounting column (2), and the clamping structure (3) is movably provided on the vertical plate (22).

2. The automatic forestry seedling transplanting robot according to claim 1, characterized in that: The front and rear parts of the base (1) are both provided with side fixing plates (11), and rollers (12) are installed under the side fixing plates (11), and the rollers (12) adopt a solid rubber roller structure.

3. The automatic forestry seedling transplanting robot according to claim 1, characterized in that: A second slider (15) is provided at the lower portion of the lower mounting plate (16), the second slider (15) being slidably connected to the first X-axis linear guide rail (14), and the lower mounting plate (16) is movable left and right in the horizontal direction.

4. The automatic forestry seedling transplanting robot according to claim 1, characterized in that: The first rotating shaft (18) and the mounting column (2) are both rotatable structures, and a front connecting plate (20) is fixed to the left side of the mounting column (2), and a side panel (21) is fixed to the left side of the front connecting plate (20), and the right end of the vertical plate (22) is fixed to the side panel (21), and a first Z-axis linear guide rail (23) is provided on both the front and rear sides of the vertical plate (22).

5. The automatic forestry seedling transplanting robot according to claim 1, characterized in that: A third slider (30) is provided at the rear of the clamping structure (3), and the third slider (30) is slidably connected to the first Z-axis linear guide rail (23). A plurality of telescopic cylinders (31) are provided on both left and right sides of the front of the clamping structure (3), and the front ends of the telescopic cylinders (31) are fixed on the arc-shaped clamping plate (32).

6. The automatic forestry seedling transplanting robot according to claim 5, characterized in that: The clamping surface of the arc-shaped clamping plate (32) is provided with a rubber lining (33), and the front side surface of the rubber lining (33) is provided with an anti-slip protrusion.

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